 /**
  ******************************************************************************
  * @file    mpu9250.c
  * @author  Oskar Wei
  * @version V1.0
  * @date    2020-05-15
  * @brief   mpu9250 driver
  ******************************************************************************
  * @attention
  *
  * Mail: 990092230@qq.com
  * Shop: www.mindsilicon.com
  *
  ******************************************************************************
  */


#include <math.h>
#include "stm32f10x.h"
#include "FreeRTOS.h"
#include "task.h"

#include "i2c_device.h"
#include "mpu9250.h"
#include <stdio.h>

static uint8_t devAddr;
static I2C_Dev *I2Cx;
static uint8_t buffer[14];
static bool isInit;

static const unsigned short mpu6500StTb[256] = {
  2620,2646,2672,2699,2726,2753,2781,2808, //7
  2837,2865,2894,2923,2952,2981,3011,3041, //15
  3072,3102,3133,3165,3196,3228,3261,3293, //23
  3326,3359,3393,3427,3461,3496,3531,3566, //31
  3602,3638,3674,3711,3748,3786,3823,3862, //39
  3900,3939,3979,4019,4059,4099,4140,4182, //47
  4224,4266,4308,4352,4395,4439,4483,4528, //55
  4574,4619,4665,4712,4759,4807,4855,4903, //63
  4953,5002,5052,5103,5154,5205,5257,5310, //71
  5363,5417,5471,5525,5581,5636,5693,5750, //79
  5807,5865,5924,5983,6043,6104,6165,6226, //87
  6289,6351,6415,6479,6544,6609,6675,6742, //95
  6810,6878,6946,7016,7086,7157,7229,7301, //103
  7374,7448,7522,7597,7673,7750,7828,7906, //111
  7985,8065,8145,8227,8309,8392,8476,8561, //119
  8647,8733,8820,8909,8998,9088,9178,9270,
  9363,9457,9551,9647,9743,9841,9939,10038,
  10139,10240,10343,10446,10550,10656,10763,10870,
  10979,11089,11200,11312,11425,11539,11654,11771,
  11889,12008,12128,12249,12371,12495,12620,12746,
  12874,13002,13132,13264,13396,13530,13666,13802,
  13940,14080,14221,14363,14506,14652,14798,14946,
  15096,15247,15399,15553,15709,15866,16024,16184,
  16346,16510,16675,16842,17010,17180,17352,17526,
  17701,17878,18057,18237,18420,18604,18790,18978,
  19167,19359,19553,19748,19946,20145,20347,20550,
  20756,20963,21173,21385,21598,21814,22033,22253,
  22475,22700,22927,23156,23388,23622,23858,24097,
  24338,24581,24827,25075,25326,25579,25835,26093,
  26354,26618,26884,27153,27424,27699,27976,28255,
  28538,28823,29112,29403,29697,29994,30294,30597,
  30903,31212,31524,31839,32157,32479,32804,33132
};

/** Default constructor, uses default I2C address.
 * @see MPU6500_DEFAULT_ADDRESS
 */
void mpu6500Init(I2C_Dev *i2cPort)
{
  if (isInit)
    return;

  I2Cx = i2cPort;
  devAddr = MPU6500_ADDRESS_AD0_LOW;

  isInit = true;
}

bool mpu6500Test(void)
{
  bool testStatus;

  if (!isInit)
    return false;

  testStatus = mpu6500TestConnection();

  return testStatus;
}

/** Verify the I2C connection.
 * Make sure the device is connected and responds as expected.
 * @return True if connection is valid, false otherwise
 */
bool mpu6500TestConnection()
{
  return mpu6500GetDeviceID() == 0x38; //0x38 is MPU9250 ID with AD0 = 0;
}

/** Do a MPU6500 self test.
 * @return True if self test passed, false otherwise
 */
bool mpu6500SelfTest()
{
  uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
  uint8_t saveReg[5];
  uint8_t selfTest[6];
  int32_t gAvg[3]={0}, aAvg[3]={0}, aSTAvg[3]={0}, gSTAvg[3]={0};
  int32_t factoryTrim[6];
  float aDiff[3], gDiff[3];
  uint8_t FS = 0;
  int i;

  // Save old configuration
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, &saveReg[0]);
  i2cdevReadByte(I2Cx, devAddr, MPU9250_RA_CONFIG, &saveReg[1]);
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, &saveReg[2]);
  i2cdevReadByte(I2Cx, devAddr, MPU9250_RA_ACCEL_CONFIG_2, &saveReg[3]);
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, &saveReg[4]);
  // Write test configuration
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
  i2cdevWriteByte(I2Cx, devAddr, MPU9250_RA_CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
  i2cdevWriteByte(I2Cx, devAddr, MPU9250_RA_ACCEL_CONFIG_2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g

  for(i = 0; i < 200; i++)
  {
    // get average current values of gyro and acclerometer
    i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
    aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
    aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
    aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;

    i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
    gAvg[0] += (int16_t)((int16_t)rawData[0] << 8) | rawData[1]; // Turn the MSB and LSB into a signed 16-bit value
    gAvg[1] += (int16_t)((int16_t)rawData[2] << 8) | rawData[3];
    gAvg[2] += (int16_t)((int16_t)rawData[4] << 8) | rawData[5];
  }

  for (i = 0; i < 3; i++)
  { // Get average of 200 values and store as average current readings
    aAvg[i] /= 200;
    gAvg[i] /= 200;
  }

  // Configure the accelerometer for self-test
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
  vTaskDelay(25); // Delay a while to let the device stabilize

  for(i = 0; i < 200; i++)
  {
    // get average self-test values of gyro and acclerometer
    i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
    aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
    aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
    aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;

    i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
    gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
    gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
    gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
  }

  for (i =0; i < 3; i++)
  { // Get average of 200 values and store as average self-test readings
    aSTAvg[i] /= 200;
    gSTAvg[i] /= 200;
  }

   // Configure the gyro and accelerometer for normal operation
   i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0x00);
   i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0x00);
   vTaskDelay(25); // Delay a while to let the device stabilize

   // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
   i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_ACCEL, &selfTest[0]); // X-axis accel self-test results
   i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_ACCEL, &selfTest[1]); // Y-axis accel self-test results
   i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_ACCEL, &selfTest[2]); // Z-axis accel self-test results
   i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_GYRO, &selfTest[3]); // X-axis gyro self-test results
   i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_GYRO, &selfTest[4]); // Y-axis gyro self-test results
   i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_GYRO, &selfTest[5]); // Z-axis gyro self-test results

   for (i = 0; i < 6; i++)
   {
      if (selfTest[i] != 0)
      {
        factoryTrim[i] = mpu6500StTb[selfTest[i] - 1];
      }
      else
      {
        factoryTrim[i] = 0;
      }
    }

  // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
  // To get percent, must multiply by 100
  for (i = 0; i < 3; i++)
  {
   aDiff[i] = 100.0f*((float)((aSTAvg[i] - aAvg[i]) - factoryTrim[i]))/factoryTrim[i]; // Report percent differences
   gDiff[i] = 100.0f*((float)((gSTAvg[i] - gAvg[i]) - factoryTrim[i+3]))/factoryTrim[i+3]; // Report percent differences
//   printf("a[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, aAvg[i], aSTAvg[i], aSTAvg[i] - aAvg[i], factoryTrim[i], aDiff[i]);
//   printf("g[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, gAvg[i], gSTAvg[i], gSTAvg[i] - gAvg[i], factoryTrim[i+3], gDiff[i]);
  }

  // Restore old configuration
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, saveReg[0]);
  i2cdevWriteByte(I2Cx, devAddr, MPU9250_RA_CONFIG, saveReg[1]);
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, saveReg[2]);
  i2cdevWriteByte(I2Cx, devAddr, MPU9250_RA_ACCEL_CONFIG_2, saveReg[3]);
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, saveReg[4]);

   // Check result
  if (mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[0], "gyro X") &&
      mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[1], "gyro Y") &&
      mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[2], "gyro Z") &&
      mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[0], "acc X") &&
      mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[1], "acc Y") &&
      mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[2], "acc Z"))
  {
    return true;
  }
  else
  {
    return false;
  }
}

/** Evaluate the values from a MPU6500 self test.
 * @param low The low limit of the self test
 * @param high The high limit of the self test
 * @param value The value to compare with.
 * @param string A pointer to a string describing the value.
 * @return True if self test within low - high limit, false otherwise
 */
bool mpu6500EvaluateSelfTest(float low, float high, float value, char* string)
{
  if (value < low || value > high)
  {
    printf("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
                string, (double)low, (double)high, (double)value);
    return false;
  }
  return true;
}

// SMPLRT_DIV register

/** Get gyroscope output rate divider.
 * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
 * Motion detection, and Free Fall detection are all based on the Sample Rate.
 * The Sample Rate is generated by dividing the gyroscope output rate by
 * SMPLRT_DIV:
 *
 * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
 *
 * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
 * 7), and 1kHz when the DLPF is enabled (see Register 26).
 *
 * Note: The accelerometer output rate is 1kHz. This means that for a Sample
 * Rate greater than 1kHz, the same accelerometer sample may be output to the
 * FIFO, DMP, and sensor registers more than once.
 *
 * For a diagram of the gyroscope and accelerometer signal paths, see Section 8
 * of the MPU-6000/MPU-6500 Product Specification document.
 *
 * @return Current sample rate
 * @see MPU6500_RA_SMPLRT_DIV
 */
uint8_t mpu6500GetRate()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, buffer);
  return buffer[0];
}
/** Set gyroscope sample rate divider.
 * @param rate New sample rate divider
 * @see getRate()
 * @see MPU6500_RA_SMPLRT_DIV
 */
void mpu6500SetRate(uint8_t rate)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, rate);
}

// CONFIG register

/** Get external FSYNC configuration.
 * Configures the external Frame Synchronization (FSYNC) pin sampling. An
 * external signal connected to the FSYNC pin can be sampled by configuring
 * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
 * strobes may be captured. The latched FSYNC signal will be sampled at the
 * Sampling Rate, as defined in register 25. After sampling, the latch will
 * reset to the current FSYNC signal state.
 *
 * The sampled value will be reported in place of the least significant bit in
 * a sensor data register determined by the value of EXT_SYNC_SET according to
 * the following table.
 *
 * <pre>
 * EXT_SYNC_SET | FSYNC Bit Location
 * -------------+-------------------
 * 0            | Input disabled
 * 1            | TEMP_OUT_L[0]
 * 2            | GYRO_XOUT_L[0]
 * 3            | GYRO_YOUT_L[0]
 * 4            | GYRO_ZOUT_L[0]
 * 5            | ACCEL_XOUT_L[0]
 * 6            | ACCEL_YOUT_L[0]
 * 7            | ACCEL_ZOUT_L[0]
 * </pre>
 *
 * @return FSYNC configuration value
 */
uint8_t mpu6500GetExternalFrameSync()
{
  i2cdevReadBits(I2Cx, devAddr, MPU9250_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
      MPU6500_CFG_EXT_SYNC_SET_LENGTH, buffer);
  return buffer[0];
}
/** Set external FSYNC configuration.
 * @see getExternalFrameSync()
 * @see MPU6500_RA_CONFIG
 * @param sync New FSYNC configuration value
 */
void mpu6500SetExternalFrameSync(uint8_t sync)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU9250_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
      MPU6500_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
 * The DLPF_CFG parameter sets the digital low pass filter configuration. It
 * also determines the internal sampling rate used by the device as shown in
 * the table below.
 *
 * Note: The accelerometer output rate is 1kHz. This means that for a Sample
 * Rate greater than 1kHz, the same accelerometer sample may be output to the
 * FIFO, DMP, and sensor registers more than once.
 *
 * <pre>
 *          |   ACCELEROMETER    |           GYROSCOPE
 * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
 * ---------+-----------+--------+-----------+--------+-------------
 * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
 * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
 * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
 * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
 * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
 * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
 * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
 * 7        |   -- Reserved --   |   -- Reserved --   | Reserved
 * </pre>
 *
 * @return DLFP configuration
 * @see MPU6500_RA_CONFIG
 * @see MPU6500_CFG_DLPF_CFG_BIT
 * @see MPU6500_CFG_DLPF_CFG_LENGTH
 */
uint8_t mpu6500GetDLPFMode()
{
  i2cdevReadBits(I2Cx, devAddr, MPU9250_RA_CONFIG, MPU9250_CFG_DLPF_CFG_BIT,
      MPU9250_CFG_DLPF_CFG_LENGTH, buffer);
  return buffer[0];
}
/** Set digital low-pass filter configuration.
 * @param mode New DLFP configuration setting
 * @see getDLPFBandwidth()
 * @see MPU6500_DLPF_BW_256
 * @see MPU6500_RA_CONFIG
 * @see MPU6500_CFG_DLPF_CFG_BIT
 * @see MPU6500_CFG_DLPF_CFG_LENGTH
 */
void mpu6500SetDLPFMode(uint8_t mode)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU9250_RA_CONFIG, MPU9250_CFG_DLPF_CFG_BIT,
      MPU9250_CFG_DLPF_CFG_LENGTH, mode);
}

// GYRO_CONFIG register

/** Get full-scale gyroscope range id.
 * The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
 * as described in the table below.
 *
 * <pre>
 * 0 = +/- 250 degrees/sec
 * 1 = +/- 500 degrees/sec
 * 2 = +/- 1000 degrees/sec
 * 3 = +/- 2000 degrees/sec
 * </pre>
 *
 * @return Current full-scale gyroscope range setting
 * @see MPU6500_GYRO_FS_250
 * @see MPU6500_RA_GYRO_CONFIG
 * @see MPU6500_GCONFIG_FS_SEL_BIT
 * @see MPU6500_GCONFIG_FS_SEL_LENGTH
 */
uint8_t mpu6500GetFullScaleGyroRangeId()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
      MPU6500_GCONFIG_FS_SEL_LENGTH, buffer);
  return buffer[0];
}

/** Get full-scale gyroscope degrees per LSB.
 *
 * @return float of current full-scale gyroscope setting as degrees per LSB
 * @see MPU6500_GYRO_FS_250
 * @see MPU6500_RA_GYRO_CONFIG
 * @see MPU6500_GCONFIG_FS_SEL_BIT
 * @see MPU6500_GCONFIG_FS_SEL_LENGTH
 */
float mpu6500GetFullScaleGyroDPL()
{
  int32_t rangeId;
  float range;

  rangeId = mpu6500GetFullScaleGyroRangeId();
  switch (rangeId)
  {
    case MPU6500_GYRO_FS_250:
      range = MPU6500_DEG_PER_LSB_250;
      break;
    case MPU6500_GYRO_FS_500:
      range = MPU6500_DEG_PER_LSB_500;
      break;
    case MPU6500_GYRO_FS_1000:
      range = MPU6500_DEG_PER_LSB_1000;
      break;
    case MPU6500_GYRO_FS_2000:
      range = MPU6500_DEG_PER_LSB_2000;
      break;
    default:
      range = MPU6500_DEG_PER_LSB_1000;
      break;
  }

  return range;
}

/** Set full-scale gyroscope range.
 * @param range New full-scale gyroscope range value
 * @see getFullScaleRange()
 * @see MPU6500_GYRO_FS_250
 * @see MPU6500_RA_GYRO_CONFIG
 * @see MPU6500_GCONFIG_FS_SEL_BIT
 * @see MPU6500_GCONFIG_FS_SEL_LENGTH
 */
void mpu6500SetFullScaleGyroRange(uint8_t range)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
      MPU6500_GCONFIG_FS_SEL_LENGTH, range);
}

void mpu6500SetGyroXSelfTest(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_XG_ST_BIT, enabled);
}

void mpu6500SetGyroYSelfTest(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_YG_ST_BIT, enabled);
}

void mpu6500SetGyroZSelfTest(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_ZG_ST_BIT, enabled);
}

// ACCEL_CONFIG register

/** Get self-test enabled setting for accelerometer X axis.
 * @return Self-test enabled value
 * @see MPU6500_RA_ACCEL_CONFIG
 */
bool mpu6500GetAccelXSelfTest()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, buffer);
  return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
 * @param enabled Self-test enabled value
 * @see MPU6500_RA_ACCEL_CONFIG
 */
void mpu6500SetAccelXSelfTest(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
 * @return Self-test enabled value
 * @see MPU6500_RA_ACCEL_CONFIG
 */
bool mpu6500GetAccelYSelfTest()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, buffer);
  return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
 * @param enabled Self-test enabled value
 * @see MPU6500_RA_ACCEL_CONFIG
 */
void mpu6500SetAccelYSelfTest(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
 * @return Self-test enabled value
 * @see MPU6500_RA_ACCEL_CONFIG
 */
bool mpu6500GetAccelZSelfTest()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, buffer);
  return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
 * @param enabled Self-test enabled value
 * @see MPU6500_RA_ACCEL_CONFIG
 */
void mpu6500SetAccelZSelfTest(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
 * The FS_SEL parameter allows setting the full-scale range of the accelerometer
 * sensors, as described in the table below.
 *
 * <pre>
 * 0 = +/- 2g
 * 1 = +/- 4g
 * 2 = +/- 8g
 * 3 = +/- 16g
 * </pre>
 *
 * @return Current full-scale accelerometer range setting
 * @see MPU6500_ACCEL_FS_2
 * @see MPU6500_RA_ACCEL_CONFIG
 * @see MPU6500_ACONFIG_AFS_SEL_BIT
 * @see MPU6500_ACONFIG_AFS_SEL_LENGTH
 */
uint8_t mpu6500GetFullScaleAccelRangeId()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
      MPU6500_ACONFIG_AFS_SEL_LENGTH, buffer);
  return buffer[0];
}

/** Get full-scale accelerometer G per LSB.
 *
 * @return float of current full-scale accelerometer setting as G per LSB
 * @see MPU6500_ACCEL_FS_2
 * @see MPU6500_RA_ACCEL_CONFIG
 * @see MPU6500_ACONFIG_AFS_SEL_BIT
 * @see MPU6500_ACONFIG_AFS_SEL_LENGTH
 */
float mpu6500GetFullScaleAccelGPL()
{
  int32_t rangeId;
  float range;

  rangeId = mpu6500GetFullScaleAccelRangeId();
  switch (rangeId)
  {
    case MPU6500_ACCEL_FS_2:
      range = MPU6500_G_PER_LSB_2;
      break;
    case MPU6500_ACCEL_FS_4:
      range = MPU6500_G_PER_LSB_4;
      break;
    case MPU6500_ACCEL_FS_8:
      range = MPU6500_G_PER_LSB_8;
      break;
    case MPU6500_ACCEL_FS_16:
      range = MPU6500_G_PER_LSB_16;
      break;
    default:
      range = MPU6500_DEG_PER_LSB_1000;
      break;
  }

  return range;
}

/** Set full-scale accelerometer range.
 * @param range New full-scale accelerometer range setting
 * @see getFullScaleAccelRange()
 */
void mpu6500SetFullScaleAccelRange(uint8_t range)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
      MPU6500_ACONFIG_AFS_SEL_LENGTH, range);
}

/** Set accelerometer digital low pass filter.
 * @param range DLPF setting
 * @see MPU6500_ACCEL_DLPF_BW_218
 * @see MPU6500_ACCEL_DLPF_BW_99
 * @see MPU6500_ACCEL_DLPF_BW_45
 * @see MPU6500_ACCEL_DLPF_BW_21
 * @see MPU6500_ACCEL_DLPF_BW_10
 * @see MPU6500_ACCEL_DLPF_BW_5
 */
void mpu6500SetAccelDLPF(uint8_t range)
{
	i2cdevWriteBits(I2Cx, devAddr, MPU9250_RA_ACCEL_CONFIG_2, MPU9250_ACONFIG2_DLPF_BIT,
									MPU9250_ACONFIG2_DLPF_LENGTH, range);
}

/** Get the high-pass filter configuration.
 * The DHPF is a filter module in the path leading to motion detectors (Free
 * Fall, Motion threshold, and Zero Motion). The high pass filter output is not
 * available to the data registers (see Figure in Section 8 of the MPU-6000/
 * MPU-6500 Product Specification document).
 *
 * The high pass filter has three modes:
 *
 * <pre>
 *    Reset: The filter output settles to zero within one sample. This
 *           effectively disables the high pass filter. This mode may be toggled
 *           to quickly settle the filter.
 *
 *    On:    The high pass filter will pass signals above the cut off frequency.
 *
 *    Hold:  When triggered, the filter holds the present sample. The filter
 *           output will be the difference between the input sample and the held
 *           sample.
 * </pre>
 *
 * <pre>
 * ACCEL_HPF | Filter Mode | Cut-off Frequency
 * ----------+-------------+------------------
 * 0         | Reset       | None
 * 1         | On          | 5Hz
 * 2         | On          | 2.5Hz
 * 3         | On          | 1.25Hz
 * 4         | On          | 0.63Hz
 * 7         | Hold        | None
 * </pre>
 *
 * @return Current high-pass filter configuration
 * @see MPU6500_DHPF_RESET
 * @see MPU6500_RA_ACCEL_CONFIG
 */
uint8_t mpu6500GetDHPFMode()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
      MPU6500_ACONFIG_ACCEL_HPF_LENGTH, buffer);
  return buffer[0];
}
/** Set the high-pass filter configuration.
 * @param bandwidth New high-pass filter configuration
 * @see setDHPFMode()
 * @see MPU6500_DHPF_RESET
 * @see MPU6500_RA_ACCEL_CONFIG
 */
void mpu6500SetDHPFMode(uint8_t bandwidth)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
      MPU6500_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}

// FIFO_EN register

/** Get temperature FIFO enabled value.
 * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
 * 66) to be written into the FIFO buffer.
 * @return Current temperature FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetTempFIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_TEMP_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set temperature FIFO enabled value.
 * @param enabled New temperature FIFO enabled value
 * @see getTempFIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetTempFIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_TEMP_FIFO_EN_BIT, enabled);
}
/** Get gyroscope X-axis FIFO enabled value.
 * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
 * 68) to be written into the FIFO buffer.
 * @return Current gyroscope X-axis FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetXGyroFIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_XG_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
 * @param enabled New gyroscope X-axis FIFO enabled value
 * @see getXGyroFIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetXGyroFIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_XG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Y-axis FIFO enabled value.
 * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
 * 70) to be written into the FIFO buffer.
 * @return Current gyroscope Y-axis FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetYGyroFIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_YG_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
 * @param enabled New gyroscope Y-axis FIFO enabled value
 * @see getYGyroFIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetYGyroFIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_YG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Z-axis FIFO enabled value.
 * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
 * 72) to be written into the FIFO buffer.
 * @return Current gyroscope Z-axis FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetZGyroFIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ZG_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
 * @param enabled New gyroscope Z-axis FIFO enabled value
 * @see getZGyroFIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetZGyroFIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ZG_FIFO_EN_BIT, enabled);
}
/** Get accelerometer FIFO enabled value.
 * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
 * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
 * written into the FIFO buffer.
 * @return Current accelerometer FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetAccelFIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ACCEL_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set accelerometer FIFO enabled value.
 * @param enabled New accelerometer FIFO enabled value
 * @see getAccelFIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetAccelFIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ACCEL_FIFO_EN_BIT, enabled);
}
/** Get Slave 2 FIFO enabled value.
 * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
 * associated with Slave 2 to be written into the FIFO buffer.
 * @return Current Slave 2 FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetSlave2FIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV2_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
 * @param enabled New Slave 2 FIFO enabled value
 * @see getSlave2FIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetSlave2FIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV2_FIFO_EN_BIT, enabled);
}
/** Get Slave 1 FIFO enabled value.
 * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
 * associated with Slave 1 to be written into the FIFO buffer.
 * @return Current Slave 1 FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetSlave1FIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV1_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
 * @param enabled New Slave 1 FIFO enabled value
 * @see getSlave1FIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetSlave1FIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV1_FIFO_EN_BIT, enabled);
}
/** Get Slave 0 FIFO enabled value.
 * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
 * associated with Slave 0 to be written into the FIFO buffer.
 * @return Current Slave 0 FIFO enabled value
 * @see MPU6500_RA_FIFO_EN
 */
bool mpu6500GetSlave0FIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV0_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
 * @param enabled New Slave 0 FIFO enabled value
 * @see getSlave0FIFOEnabled()
 * @see MPU6500_RA_FIFO_EN
 */
void mpu6500SetSlave0FIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV0_FIFO_EN_BIT, enabled);
}

// I2C_MST_CTRL register

/** Get multi-master enabled value.
 * Multi-master capability allows multiple I2C masters to operate on the same
 * bus. In circuits where multi-master capability is required, set MULT_MST_EN
 * to 1. This will increase current drawn by approximately 30uA.
 *
 * In circuits where multi-master capability is required, the state of the I2C
 * bus must always be monitored by each separate I2C Master. Before an I2C
 * Master can assume arbitration of the bus, it must first confirm that no other
 * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
 * MPU-60X0's bus arbitration detection logic is turned on, enabling it to
 * detect when the bus is available.
 *
 * @return Current multi-master enabled value
 * @see MPU6500_RA_I2C_MST_CTRL
 */
bool mpu6500GetMultiMasterEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_MULT_MST_EN_BIT, buffer);
  return buffer[0];
}
/** Set multi-master enabled value.
 * @param enabled New multi-master enabled value
 * @see getMultiMasterEnabled()
 * @see MPU6500_RA_I2C_MST_CTRL
 */
void mpu6500SetMultiMasterEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_MULT_MST_EN_BIT, enabled);
}
/** Get wait-for-external-sensor-data enabled value.
 * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
 * delayed until External Sensor data from the Slave Devices are loaded into the
 * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
 * data (i.e. from gyro and accel) and external sensor data have been loaded to
 * their respective data registers (i.e. the data is synced) when the Data Ready
 * interrupt is triggered.
 *
 * @return Current wait-for-external-sensor-data enabled value
 * @see MPU6500_RA_I2C_MST_CTRL
 */
bool mpu6500GetWaitForExternalSensorEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_WAIT_FOR_ES_BIT, buffer);
  return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
 * @param enabled New wait-for-external-sensor-data enabled value
 * @see getWaitForExternalSensorEnabled()
 * @see MPU6500_RA_I2C_MST_CTRL
 */
void mpu6500SetWaitForExternalSensorEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_WAIT_FOR_ES_BIT, enabled);
}
/** Get Slave 3 FIFO enabled value.
 * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
 * associated with Slave 3 to be written into the FIFO buffer.
 * @return Current Slave 3 FIFO enabled value
 * @see MPU6500_RA_MST_CTRL
 */
bool mpu6500GetSlave3FIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_SLV_3_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
 * @param enabled New Slave 3 FIFO enabled value
 * @see getSlave3FIFOEnabled()
 * @see MPU6500_RA_MST_CTRL
 */
void mpu6500SetSlave3FIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_SLV_3_FIFO_EN_BIT, enabled);
}
/** Get slave read/write transition enabled value.
 * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
 * read to the next slave read. If the bit equals 0, there will be a restart
 * between reads. If the bit equals 1, there will be a stop followed by a start
 * of the following read. When a write transaction follows a read transaction,
 * the stop followed by a start of the successive write will be always used.
 *
 * @return Current slave read/write transition enabled value
 * @see MPU6500_RA_I2C_MST_CTRL
 */
bool mpu6500GetSlaveReadWriteTransitionEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, buffer);
  return buffer[0];
}
/** Set slave read/write transition enabled value.
 * @param enabled New slave read/write transition enabled value
 * @see getSlaveReadWriteTransitionEnabled()
 * @see MPU6500_RA_I2C_MST_CTRL
 */
void mpu6500SetSlaveReadWriteTransitionEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, enabled);
}
/** Get I2C master clock speed.
 * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
 * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
 * the following table:
 *
 * <pre>
 * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
 * ------------+------------------------+-------------------
 * 0           | 348kHz                 | 23
 * 1           | 333kHz                 | 24
 * 2           | 320kHz                 | 25
 * 3           | 308kHz                 | 26
 * 4           | 296kHz                 | 27
 * 5           | 286kHz                 | 28
 * 6           | 276kHz                 | 29
 * 7           | 267kHz                 | 30
 * 8           | 258kHz                 | 31
 * 9           | 500kHz                 | 16
 * 10          | 471kHz                 | 17
 * 11          | 444kHz                 | 18
 * 12          | 421kHz                 | 19
 * 13          | 400kHz                 | 20
 * 14          | 381kHz                 | 21
 * 15          | 364kHz                 | 22
 * </pre>
 *
 * @return Current I2C master clock speed
 * @see MPU6500_RA_I2C_MST_CTRL
 */
uint8_t mpu6500GetMasterClockSpeed()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
      MPU6500_I2C_MST_CLK_LENGTH, buffer);
  return buffer[0];
}
/** Set I2C master clock speed.
 * @reparam speed Current I2C master clock speed
 * @see MPU6500_RA_I2C_MST_CTRL
 */
void mpu6500SetMasterClockSpeed(uint8_t speed)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
      MPU6500_I2C_MST_CLK_LENGTH, speed);
}

// I2C_SLV* registers (Slave 0-3)

/** Get the I2C address of the specified slave (0-3).
 * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
 * operation, and if it is cleared, then it's a write operation. The remaining
 * bits (6-0) are the 7-bit device address of the slave device.
 *
 * In read mode, the result of the read is placed in the lowest available
 * EXT_SENS_DATA register. For further information regarding the allocation of
 * read results, please refer to the EXT_SENS_DATA register description
 * (Registers 73 - 96).
 *
 * The MPU-6500 supports a total of five slaves, but Slave 4 has unique
 * characteristics, and so it has its own functions (getSlave4* and setSlave4*).
 *
 * I2C data transactions are performed at the Sample Rate, as defined in
 * Register 25. The user is responsible for ensuring that I2C data transactions
 * to and from each enabled Slave can be completed within a single period of the
 * Sample Rate.
 *
 * The I2C slave access rate can be reduced relative to the Sample Rate. This
 * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
 * slave's access rate is reduced relative to the Sample Rate is determined by
 * I2C_MST_DELAY_CTRL (Register 103).
 *
 * The processing order for the slaves is fixed. The sequence followed for
 * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
 * particular Slave is disabled it will be skipped.
 *
 * Each slave can either be accessed at the sample rate or at a reduced sample
 * rate. In a case where some slaves are accessed at the Sample Rate and some
 * slaves are accessed at the reduced rate, the sequence of accessing the slaves
 * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
 * be skipped if their access rate dictates that they should not be accessed
 * during that particular cycle. For further information regarding the reduced
 * access rate, please refer to Register 52. Whether a slave is accessed at the
 * Sample Rate or at the reduced rate is determined by the Delay Enable bits in
 * Register 103.
 *
 * @param num Slave number (0-3)
 * @return Current address for specified slave
 * @see MPU6500_RA_I2C_SLV0_ADDR
 */
uint8_t mpu6500GetSlaveAddress(uint8_t num)
{
  if (num > 3)
    return 0;
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, buffer);
  return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
 * @param num Slave number (0-3)
 * @param address New address for specified slave
 * @see getSlaveAddress()
 * @see MPU6500_RA_I2C_SLV0_ADDR
 */
void mpu6500SetSlaveAddress(uint8_t num, uint8_t address)
{
  if (num > 3)
    return;
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, address);
}
/** Get the active internal register for the specified slave (0-3).
 * Read/write operations for this slave will be done to whatever internal
 * register address is stored in this MPU register.
 *
 * The MPU-6500 supports a total of five slaves, but Slave 4 has unique
 * characteristics, and so it has its own functions.
 *
 * @param num Slave number (0-3)
 * @return Current active register for specified slave
 * @see MPU6500_RA_I2C_SLV0_REG
 */
uint8_t mpu6500GetSlaveRegister(uint8_t num)
{
  if (num > 3)
    return 0;
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, buffer);
  return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
 * @param num Slave number (0-3)
 * @param reg New active register for specified slave
 * @see getSlaveRegister()
 * @see MPU6500_RA_I2C_SLV0_REG
 */
void mpu6500SetSlaveRegister(uint8_t num, uint8_t reg)
{
  if (num > 3)
    return;
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, reg);
}
/** Get the enabled value for the specified slave (0-3).
 * When set to 1, this bit enables Slave 0 for data transfer operations. When
 * cleared to 0, this bit disables Slave 0 from data transfer operations.
 * @param num Slave number (0-3)
 * @return Current enabled value for specified slave
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
bool mpu6500GetSlaveEnabled(uint8_t num)
{
  if (num > 3)
    return 0;
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT, buffer);
  return buffer[0];
}
/** Set the enabled value for the specified slave (0-3).
 * @param num Slave number (0-3)
 * @param enabled New enabled value for specified slave
 * @see getSlaveEnabled()
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
void mpu6500SetSlaveEnabled(uint8_t num, bool enabled)
{
  if (num > 3)
    return;
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT,
      enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
 * When set to 1, this bit enables byte swapping. When byte swapping is enabled,
 * the high and low bytes of a word pair are swapped. Please refer to
 * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
 * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
 * registers in the order they were transferred.
 *
 * @param num Slave number (0-3)
 * @return Current word pair byte-swapping enabled value for specified slave
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
bool mpu6500GetSlaveWordByteSwap(uint8_t num)
{
  if (num > 3)
    return 0;
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
      buffer);
  return buffer[0];
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
 * @param num Slave number (0-3)
 * @param enabled New word pair byte-swapping enabled value for specified slave
 * @see getSlaveWordByteSwap()
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
void mpu6500SetSlaveWordByteSwap(uint8_t num, bool enabled)
{
  if (num > 3)
    return;
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
      enabled);
}
/** Get write mode for the specified slave (0-3).
 * When set to 1, the transaction will read or write data only. When cleared to
 * 0, the transaction will write a register address prior to reading or writing
 * data. This should equal 0 when specifying the register address within the
 * Slave device to/from which the ensuing data transaction will take place.
 *
 * @param num Slave number (0-3)
 * @return Current write mode for specified slave (0 = register address + data, 1 = data only)
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
bool mpu6500GetSlaveWriteMode(uint8_t num)
{
  if (num > 3)
    return 0;
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
      buffer);
  return buffer[0];
}
/** Set write mode for the specified slave (0-3).
 * @param num Slave number (0-3)
 * @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
 * @see getSlaveWriteMode()
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
void mpu6500SetSlaveWriteMode(uint8_t num, bool mode)
{
  if (num > 3)
    return;
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
      mode);
}
/** Get word pair grouping order offset for the specified slave (0-3).
 * This sets specifies the grouping order of word pairs received from registers.
 * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
 * then odd register addresses) are paired to form a word. When set to 1, bytes
 * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
 * register addresses) are paired to form a word.
 *
 * @param num Slave number (0-3)
 * @return Current word pair grouping order offset for specified slave
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
bool mpu6500GetSlaveWordGroupOffset(uint8_t num)
{
  if (num > 3)
    return 0;
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT, buffer);
  return buffer[0];
}
/** Set word pair grouping order offset for the specified slave (0-3).
 * @param num Slave number (0-3)
 * @param enabled New word pair grouping order offset for specified slave
 * @see getSlaveWordGroupOffset()
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
void mpu6500SetSlaveWordGroupOffset(uint8_t num, bool enabled)
{
  if (num > 3)
    return;
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT,
      enabled);
}
/** Get number of bytes to read for the specified slave (0-3).
 * Specifies the number of bytes transferred to and from Slave 0. Clearing this
 * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
 * @param num Slave number (0-3)
 * @return Number of bytes to read for specified slave
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
uint8_t mpu6500GetSlaveDataLength(uint8_t num)
{
  if (num > 3)
    return 0;
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
      MPU6500_I2C_SLV_LEN_LENGTH, buffer);
  return buffer[0];
}
/** Set number of bytes to read for the specified slave (0-3).
 * @param num Slave number (0-3)
 * @param length Number of bytes to read for specified slave
 * @see getSlaveDataLength()
 * @see MPU6500_RA_I2C_SLV0_CTRL
 */
void mpu6500SetSlaveDataLength(uint8_t num, uint8_t length)
{
  if (num > 3)
    return;
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
      MPU6500_I2C_SLV_LEN_LENGTH, length);
}

// I2C_SLV* registers (Slave 4)

/** Get the I2C address of Slave 4.
 * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
 * operation, and if it is cleared, then it's a write operation. The remaining
 * bits (6-0) are the 7-bit device address of the slave device.
 *
 * @return Current address for Slave 4
 * @see getSlaveAddress()
 * @see MPU6500_RA_I2C_SLV4_ADDR
 */
uint8_t mpu6500GetSlave4Address()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_ADDR, buffer);
  return buffer[0];
}
/** Set the I2C address of Slave 4.
 * @param address New address for Slave 4
 * @see getSlave4Address()
 * @see MPU6500_RA_I2C_SLV4_ADDR
 */
void mpu6500SetSlave4Address(uint8_t address)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_ADDR, address);
}
/** Get the active internal register for the Slave 4.
 * Read/write operations for this slave will be done to whatever internal
 * register address is stored in this MPU register.
 *
 * @return Current active register for Slave 4
 * @see MPU6500_RA_I2C_SLV4_REG
 */
uint8_t mpu6500GetSlave4Register()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_REG, buffer);
  return buffer[0];
}
/** Set the active internal register for Slave 4.
 * @param reg New active register for Slave 4
 * @see getSlave4Register()
 * @see MPU6500_RA_I2C_SLV4_REG
 */
void mpu6500SetSlave4Register(uint8_t reg)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_REG, reg);
}
/** Set new byte to write to Slave 4.
 * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
 * is set 1 (set to read), this register has no effect.
 * @param data New byte to write to Slave 4
 * @see MPU6500_RA_I2C_SLV4_DO
 */
void mpu6500SetSlave4OutputByte(uint8_t data)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_DO, data);
}
/** Get the enabled value for the Slave 4.
 * When set to 1, this bit enables Slave 4 for data transfer operations. When
 * cleared to 0, this bit disables Slave 4 from data transfer operations.
 * @return Current enabled value for Slave 4
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
bool mpu6500GetSlave4Enabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_EN_BIT, buffer);
  return buffer[0];
}
/** Set the enabled value for Slave 4.
 * @param enabled New enabled value for Slave 4
 * @see getSlave4Enabled()
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
void mpu6500SetSlave4Enabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_EN_BIT, enabled);
}
/** Get the enabled value for Slave 4 transaction interrupts.
 * When set to 1, this bit enables the generation of an interrupt signal upon
 * completion of a Slave 4 transaction. When cleared to 0, this bit disables the
 * generation of an interrupt signal upon completion of a Slave 4 transaction.
 * The interrupt status can be observed in Register 54.
 *
 * @return Current enabled value for Slave 4 transaction interrupts.
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
bool mpu6500GetSlave4InterruptEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_INT_EN_BIT, buffer);
  return buffer[0];
}
/** Set the enabled value for Slave 4 transaction interrupts.
 * @param enabled New enabled value for Slave 4 transaction interrupts.
 * @see getSlave4InterruptEnabled()
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
void mpu6500SetSlave4InterruptEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_INT_EN_BIT, enabled);
}
/** Get write mode for Slave 4.
 * When set to 1, the transaction will read or write data only. When cleared to
 * 0, the transaction will write a register address prior to reading or writing
 * data. This should equal 0 when specifying the register address within the
 * Slave device to/from which the ensuing data transaction will take place.
 *
 * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
bool mpu6500GetSlave4WriteMode()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_REG_DIS_BIT, buffer);
  return buffer[0];
}
/** Set write mode for the Slave 4.
 * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
 * @see getSlave4WriteMode()
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
void mpu6500SetSlave4WriteMode(bool mode)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_REG_DIS_BIT, mode);
}
/** Get Slave 4 master delay value.
 * This configures the reduced access rate of I2C slaves relative to the Sample
 * Rate. When a slave's access rate is decreased relative to the Sample Rate,
 * the slave is accessed every:
 *
 *     1 / (1 + I2C_MST_DLY) samples
 *
 * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
 * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
 * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
 * further information regarding the Sample Rate, please refer to register 25.
 *
 * @return Current Slave 4 master delay value
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
uint8_t mpu6500GetSlave4MasterDelay()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
      MPU6500_I2C_SLV4_MST_DLY_LENGTH, buffer);
  return buffer[0];
}
/** Set Slave 4 master delay value.
 * @param delay New Slave 4 master delay value
 * @see getSlave4MasterDelay()
 * @see MPU6500_RA_I2C_SLV4_CTRL
 */
void mpu6500SetSlave4MasterDelay(uint8_t delay)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
      MPU6500_I2C_SLV4_MST_DLY_LENGTH, delay);
}
/** Get last available byte read from Slave 4.
 * This register stores the data read from Slave 4. This field is populated
 * after a read transaction.
 * @return Last available byte read from to Slave 4
 * @see MPU6500_RA_I2C_SLV4_DI
 */
uint8_t mpu6500GetSlate4InputByte()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_DI, buffer);
  return buffer[0];
}

// I2C_MST_STATUS register

/** Get FSYNC interrupt status.
 * This bit reflects the status of the FSYNC interrupt from an external device
 * into the MPU-60X0. This is used as a way to pass an external interrupt
 * through the MPU-60X0 to the host application processor. When set to 1, this
 * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
 * (Register 55).
 * @return FSYNC interrupt status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetPassthroughStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_PASS_THROUGH_BIT, buffer);
  return buffer[0];
}
/** Get Slave 4 transaction done status.
 * Automatically sets to 1 when a Slave 4 transaction has completed. This
 * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
 * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
 * I2C_SLV4_CTRL register (Register 52).
 * @return Slave 4 transaction done status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetSlave4IsDone()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_DONE_BIT, buffer);
  return buffer[0];
}
/** Get master arbitration lost status.
 * This bit automatically sets to 1 when the I2C Master has lost arbitration of
 * the auxiliary I2C bus (an error condition). This triggers an interrupt if the
 * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
 * @return Master arbitration lost status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetLostArbitration()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_LOST_ARB_BIT, buffer);
  return buffer[0];
}
/** Get Slave 4 NACK status.
 * This bit automatically sets to 1 when the I2C Master receives a NACK in a
 * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
 * bit in the INT_ENABLE register (Register 56) is asserted.
 * @return Slave 4 NACK interrupt status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetSlave4Nack()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_NACK_BIT, buffer);
  return buffer[0];
}
/** Get Slave 3 NACK status.
 * This bit automatically sets to 1 when the I2C Master receives a NACK in a
 * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
 * bit in the INT_ENABLE register (Register 56) is asserted.
 * @return Slave 3 NACK interrupt status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetSlave3Nack()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV3_NACK_BIT, buffer);
  return buffer[0];
}
/** Get Slave 2 NACK status.
 * This bit automatically sets to 1 when the I2C Master receives a NACK in a
 * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
 * bit in the INT_ENABLE register (Register 56) is asserted.
 * @return Slave 2 NACK interrupt status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetSlave2Nack()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV2_NACK_BIT, buffer);
  return buffer[0];
}
/** Get Slave 1 NACK status.
 * This bit automatically sets to 1 when the I2C Master receives a NACK in a
 * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
 * bit in the INT_ENABLE register (Register 56) is asserted.
 * @return Slave 1 NACK interrupt status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetSlave1Nack()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV1_NACK_BIT, buffer);
  return buffer[0];
}
/** Get Slave 0 NACK status.
 * This bit automatically sets to 1 when the I2C Master receives a NACK in a
 * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
 * bit in the INT_ENABLE register (Register 56) is asserted.
 * @return Slave 0 NACK interrupt status
 * @see MPU6500_RA_I2C_MST_STATUS
 */
bool mpu6500GetSlave0Nack()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV0_NACK_BIT, buffer);
  return buffer[0];
}

// INT_PIN_CFG register

/** Get interrupt logic level mode.
 * Will be set 0 for active-high, 1 for active-low.
 * @return Current interrupt mode (0=active-high, 1=active-low)
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_INT_LEVEL_BIT
 */
bool mpu6500GetInterruptMode()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_LEVEL_BIT, buffer);
  return buffer[0];
}
/** Set interrupt logic level mode.
 * @param mode New interrupt mode (0=active-high, 1=active-low)
 * @see getInterruptMode()
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_INT_LEVEL_BIT
 */
void mpu6500SetInterruptMode(bool mode)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_LEVEL_BIT, mode);
}
/** Get interrupt drive mode.
 * Will be set 0 for push-pull, 1 for open-drain.
 * @return Current interrupt drive mode (0=push-pull, 1=open-drain)
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_INT_OPEN_BIT
 */
bool mpu6500GetInterruptDrive()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_OPEN_BIT, buffer);
  return buffer[0];
}
/** Set interrupt drive mode.
 * @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
 * @see getInterruptDrive()
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_INT_OPEN_BIT
 */
void mpu6500SetInterruptDrive(bool drive)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_OPEN_BIT, drive);
}
/** Get interrupt latch mode.
 * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
 * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_LATCH_INT_EN_BIT
 */
bool mpu6500GetInterruptLatch()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_LATCH_INT_EN_BIT, buffer);
  return buffer[0];
}
/** Set interrupt latch mode.
 * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
 * @see getInterruptLatch()
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_LATCH_INT_EN_BIT
 */
void mpu6500SetInterruptLatch(bool latch)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_LATCH_INT_EN_BIT, latch);
}
/** Get interrupt latch clear mode.
 * Will be set 0 for status-read-only, 1 for any-register-read.
 * @return Current latch clear mode (0=status-read-only, 1=any-register-read)
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_INT_RD_CLEAR_BIT
 */
bool mpu6500GetInterruptLatchClear()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_RD_CLEAR_BIT, buffer);
  return buffer[0];
}
/** Set interrupt latch clear mode.
 * @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
 * @see getInterruptLatchClear()
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_INT_RD_CLEAR_BIT
 */
void mpu6500SetInterruptLatchClear(bool clear)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_RD_CLEAR_BIT, clear);
}
/** Get FSYNC interrupt logic level mode.
 * @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
 * @see getFSyncInterruptMode()
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT
 */
bool mpu6500GetFSyncInterruptLevel()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
  return buffer[0];
}
/** Set FSYNC interrupt logic level mode.
 * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
 * @see getFSyncInterruptMode()
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT
 */
void mpu6500SetFSyncInterruptLevel(bool level)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT, level);
}
/** Get FSYNC pin interrupt enabled setting.
 * Will be set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled setting
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_FSYNC_INT_EN_BIT
 */
bool mpu6500GetFSyncInterruptEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_EN_BIT, buffer);
  return buffer[0];
}
/** Set FSYNC pin interrupt enabled setting.
 * @param enabled New FSYNC pin interrupt enabled setting
 * @see getFSyncInterruptEnabled()
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_FSYNC_INT_EN_BIT
 */
void mpu6500SetFSyncInterruptEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_EN_BIT, enabled);
}
/** Get I2C bypass enabled status.
 * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
 * 0, the host application processor will be able to directly access the
 * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
 * application processor will not be able to directly access the auxiliary I2C
 * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
 * bit[5]).
 * @return Current I2C bypass enabled status
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_I2C_BYPASS_EN_BIT
 */
bool mpu6500GetI2CBypassEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_I2C_BYPASS_EN_BIT, buffer);
  return buffer[0];
}
/** Set I2C bypass enabled status.
 * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
 * 0, the host application processor will be able to directly access the
 * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
 * application processor will not be able to directly access the auxiliary I2C
 * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
 * bit[5]).
 * @param enabled New I2C bypass enabled status
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_I2C_BYPASS_EN_BIT
 */
void mpu6500SetI2CBypassEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}
/** Get reference clock output enabled status.
 * When this bit is equal to 1, a reference clock output is provided at the
 * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
 * further information regarding CLKOUT, please refer to the MPU-60X0 Product
 * Specification document.
 * @return Current reference clock output enabled status
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_CLKOUT_EN_BIT
 */
bool mpu6500GetClockOutputEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_CLKOUT_EN_BIT, buffer);
  return buffer[0];
}
/** Set reference clock output enabled status.
 * When this bit is equal to 1, a reference clock output is provided at the
 * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
 * further information regarding CLKOUT, please refer to the MPU-60X0 Product
 * Specification document.
 * @param enabled New reference clock output enabled status
 * @see MPU6500_RA_INT_PIN_CFG
 * @see MPU6500_INTCFG_CLKOUT_EN_BIT
 */
void mpu6500SetClockOutputEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_CLKOUT_EN_BIT, enabled);
}

// INT_ENABLE register

/** Get full interrupt enabled status.
 * Full register byte for all interrupts, for quick reading. Each bit will be
 * set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled status
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_FF_BIT
 **/
uint8_t mpu6500GetIntEnabled()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, buffer);
  return buffer[0];
}
/** Set full interrupt enabled status.
 * Full register byte for all interrupts, for quick reading. Each bit should be
 * set 0 for disabled, 1 for enabled.
 * @param enabled New interrupt enabled status
 * @see getIntFreefallEnabled()
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_FF_BIT
 **/
void mpu6500SetIntEnabled(uint8_t enabled)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, enabled);
}
/** Get Free Fall interrupt enabled status.
 * Will be set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled status
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_FF_BIT
 **/
bool mpu6500GetIntFreefallEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FF_BIT, buffer);
  return buffer[0];
}
/** Set Free Fall interrupt enabled status.
 * @param enabled New interrupt enabled status
 * @see getIntFreefallEnabled()
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_FF_BIT
 **/
void mpu6500SetIntFreefallEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FF_BIT, enabled);
}
/** Get Motion Detection interrupt enabled status.
 * Will be set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled status
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_MOT_BIT
 **/
bool mpu6500GetIntMotionEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_MOT_BIT, buffer);
  return buffer[0];
}
/** Set Motion Detection interrupt enabled status.
 * @param enabled New interrupt enabled status
 * @see getIntMotionEnabled()
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_MOT_BIT
 **/
void mpu6500SetIntMotionEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_MOT_BIT, enabled);
}
/** Get Zero Motion Detection interrupt enabled status.
 * Will be set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled status
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_ZMOT_BIT
 **/
bool mpu6500GetIntZeroMotionEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
  return buffer[0];
}
/** Set Zero Motion Detection interrupt enabled status.
 * @param enabled New interrupt enabled status
 * @see getIntZeroMotionEnabled()
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_ZMOT_BIT
 **/
void mpu6500SetIntZeroMotionEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_ZMOT_BIT, enabled);
}
/** Get FIFO Buffer Overflow interrupt enabled status.
 * Will be set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled status
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_FIFO_OFLOW_BIT
 **/
bool mpu6500GetIntFIFOBufferOverflowEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
  return buffer[0];
}
/** Set FIFO Buffer Overflow interrupt enabled status.
 * @param enabled New interrupt enabled status
 * @see getIntFIFOBufferOverflowEnabled()
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_FIFO_OFLOW_BIT
 **/
void mpu6500SetIntFIFOBufferOverflowEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, enabled);
}
/** Get I2C Master interrupt enabled status.
 * This enables any of the I2C Master interrupt sources to generate an
 * interrupt. Will be set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled status
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_I2C_MST_INT_BIT
 **/
bool mpu6500GetIntI2CMasterEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
  return buffer[0];
}
/** Set I2C Master interrupt enabled status.
 * @param enabled New interrupt enabled status
 * @see getIntI2CMasterEnabled()
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_I2C_MST_INT_BIT
 **/
void mpu6500SetIntI2CMasterEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_I2C_MST_INT_BIT, enabled);
}
/** Get Data Ready interrupt enabled setting.
 * This event occurs each time a write operation to all of the sensor registers
 * has been completed. Will be set 0 for disabled, 1 for enabled.
 * @return Current interrupt enabled status
 * @see MPU6500_RA_INT_ENABLE
 * @see MPU6500_INTERRUPT_DATA_RDY_BIT
 */
bool mpu6500GetIntDataReadyEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
  return buffer[0];
}
/** Set Data Ready interrupt enabled status.
 * @param enabled New interrupt enabled status
 * @see getIntDataReadyEnabled()
 * @see MPU6500_RA_INT_CFG
 * @see MPU6500_INTERRUPT_DATA_RDY_BIT
 */
void mpu6500SetIntDataReadyEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DATA_RDY_BIT, enabled);
}

// INT_STATUS register

/** Get full set of interrupt status bits.
 * These bits clear to 0 after the register has been read. Very useful
 * for getting multiple INT statuses, since each single bit read clears
 * all of them because it has to read the whole byte.
 * @return Current interrupt status
 * @see MPU6500_RA_INT_STATUS
 */
uint8_t mpu6500GetIntStatus()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_STATUS, buffer);
  return buffer[0];
}
/** Get Free Fall interrupt status.
 * This bit automatically sets to 1 when a Free Fall interrupt has been
 * generated. The bit clears to 0 after the register has been read.
 * @return Current interrupt status
 * @see MPU6500_RA_INT_STATUS
 * @see MPU6500_INTERRUPT_FF_BIT
 */
bool mpu6500GetIntFreefallStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FF_BIT, buffer);
  return buffer[0];
}
/** Get Motion Detection interrupt status.
 * This bit automatically sets to 1 when a Motion Detection interrupt has been
 * generated. The bit clears to 0 after the register has been read.
 * @return Current interrupt status
 * @see MPU6500_RA_INT_STATUS
 * @see MPU6500_INTERRUPT_MOT_BIT
 */
bool mpu6500GetIntMotionStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_MOT_BIT, buffer);
  return buffer[0];
}
/** Get Zero Motion Detection interrupt status.
 * This bit automatically sets to 1 when a Zero Motion Detection interrupt has
 * been generated. The bit clears to 0 after the register has been read.
 * @return Current interrupt status
 * @see MPU6500_RA_INT_STATUS
 * @see MPU6500_INTERRUPT_ZMOT_BIT
 */
bool mpu6500GetIntZeroMotionStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
  return buffer[0];
}
/** Get FIFO Buffer Overflow interrupt status.
 * This bit automatically sets to 1 when a Free Fall interrupt has been
 * generated. The bit clears to 0 after the register has been read.
 * @return Current interrupt status
 * @see MPU6500_RA_INT_STATUS
 * @see MPU6500_INTERRUPT_FIFO_OFLOW_BIT
 */
bool mpu6500GetIntFIFOBufferOverflowStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
  return buffer[0];
}
/** Get I2C Master interrupt status.
 * This bit automatically sets to 1 when an I2C Master interrupt has been
 * generated. For a list of I2C Master interrupts, please refer to Register 54.
 * The bit clears to 0 after the register has been read.
 * @return Current interrupt status
 * @see MPU6500_RA_INT_STATUS
 * @see MPU6500_INTERRUPT_I2C_MST_INT_BIT
 */
bool mpu6500GetIntI2CMasterStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
  return buffer[0];
}
/** Get Data Ready interrupt status.
 * This bit automatically sets to 1 when a Data Ready interrupt has been
 * generated. The bit clears to 0 after the register has been read.
 * @return Current interrupt status
 * @see MPU6500_RA_INT_STATUS
 * @see MPU6500_INTERRUPT_DATA_RDY_BIT
 */
bool mpu6500GetIntDataReadyStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
  return buffer[0];
}

// ACCEL_*OUT_* registers

/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
 * FUNCTION NOT FULLY IMPLEMENTED YET.
 * @param ax 16-bit signed integer container for accelerometer X-axis value
 * @param ay 16-bit signed integer container for accelerometer Y-axis value
 * @param az 16-bit signed integer container for accelerometer Z-axis value
 * @param gx 16-bit signed integer container for gyroscope X-axis value
 * @param gy 16-bit signed integer container for gyroscope Y-axis value
 * @param gz 16-bit signed integer container for gyroscope Z-axis value
 * @param mx 16-bit signed integer container for magnetometer X-axis value
 * @param my 16-bit signed integer container for magnetometer Y-axis value
 * @param mz 16-bit signed integer container for magnetometer Z-axis value
 * @see getMotion6()
 * @see getAcceleration()
 * @see getRotation()
 * @see MPU6500_RA_ACCEL_XOUT_H
 */
void mpu6500GetMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz,
    int16_t* mx, int16_t* my, int16_t* mz)
{
  mpu6500GetMotion6(ax, ay, az, gx, gy, gz);
  // TODO: magnetometer integration
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
 * Retrieves all currently available motion sensor values.
 * @param ax 16-bit signed integer container for accelerometer X-axis value
 * @param ay 16-bit signed integer container for accelerometer Y-axis value
 * @param az 16-bit signed integer container for accelerometer Z-axis value
 * @param gx 16-bit signed integer container for gyroscope X-axis value
 * @param gy 16-bit signed integer container for gyroscope Y-axis value
 * @param gz 16-bit signed integer container for gyroscope Z-axis value
 * @see getAcceleration()
 * @see getRotation()
 * @see MPU6500_RA_ACCEL_XOUT_H
 */
void mpu6500GetMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 14, buffer);
  *ax = (((int16_t) buffer[0]) << 8) | buffer[1];
  *ay = (((int16_t) buffer[2]) << 8) | buffer[3];
  *az = (((int16_t) buffer[4]) << 8) | buffer[5];
  *gx = (((int16_t) buffer[8]) << 8) | buffer[9];
  *gy = (((int16_t) buffer[10]) << 8) | buffer[11];
  *gz = (((int16_t) buffer[12]) << 8) | buffer[13];
}
/** Get 3-axis accelerometer readings.
 * These registers store the most recent accelerometer measurements.
 * Accelerometer measurements are written to these registers at the Sample Rate
 * as defined in Register 25.
 *
 * The accelerometer measurement registers, along with the temperature
 * measurement registers, gyroscope measurement registers, and external sensor
 * data registers, are composed of two sets of registers: an internal register
 * set and a user-facing read register set.
 *
 * The data within the accelerometer sensors' internal register set is always
 * updated at the Sample Rate. Meanwhile, the user-facing read register set
 * duplicates the internal register set's data values whenever the serial
 * interface is idle. This guarantees that a burst read of sensor registers will
 * read measurements from the same sampling instant. Note that if burst reads
 * are not used, the user is responsible for ensuring a set of single byte reads
 * correspond to a single sampling instant by checking the Data Ready interrupt.
 *
 * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
 * (Register 28). For each full scale setting, the accelerometers' sensitivity
 * per LSB in ACCEL_xOUT is shown in the table below:
 *
 * <pre>
 * AFS_SEL | Full Scale Range | LSB Sensitivity
 * --------+------------------+----------------
 * 0       | +/- 2g           | 8192 LSB/mg
 * 1       | +/- 4g           | 4096 LSB/mg
 * 2       | +/- 8g           | 2048 LSB/mg
 * 3       | +/- 16g          | 1024 LSB/mg
 * </pre>
 *
 * @param x 16-bit signed integer container for X-axis acceleration
 * @param y 16-bit signed integer container for Y-axis acceleration
 * @param z 16-bit signed integer container for Z-axis acceleration
 * @see MPU6500_RA_GYRO_XOUT_H
 */
void mpu6500GetAcceleration(int16_t* x, int16_t* y, int16_t* z)
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, buffer);
  *x = (((int16_t) buffer[0]) << 8) | buffer[1];
  *y = (((int16_t) buffer[2]) << 8) | buffer[3];
  *z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis accelerometer reading.
 * @return X-axis acceleration measurement in 16-bit 2's complement format
 * @see getMotion6()
 * @see MPU6500_RA_ACCEL_XOUT_H
 */
int16_t mpu6500GetAccelerationX()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 2, buffer);
  return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis accelerometer reading.
 * @return Y-axis acceleration measurement in 16-bit 2's complement format
 * @see getMotion6()
 * @see MPU6500_RA_ACCEL_YOUT_H
 */
int16_t mpu6500GetAccelerationY()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_YOUT_H, 2, buffer);
  return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis accelerometer reading.
 * @return Z-axis acceleration measurement in 16-bit 2's complement format
 * @see getMotion6()
 * @see MPU6500_RA_ACCEL_ZOUT_H
 */
int16_t mpu6500GetAccelerationZ()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_ZOUT_H, 2, buffer);
  return (((int16_t) buffer[0]) << 8) | buffer[1];
}

// TEMP_OUT_* registers

/** Get current internal temperature.
 * @return Temperature reading in 16-bit 2's complement format
 * @see MPU6500_RA_TEMP_OUT_H
 */
int16_t mpu6500GetTemperature()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_TEMP_OUT_H, 2, buffer);
  return (((int16_t) buffer[0]) << 8) | buffer[1];
}

// GYRO_*OUT_* registers

/** Get 3-axis gyroscope readings.
 * These gyroscope measurement registers, along with the accelerometer
 * measurement registers, temperature measurement registers, and external sensor
 * data registers, are composed of two sets of registers: an internal register
 * set and a user-facing read register set.
 * The data within the gyroscope sensors' internal register set is always
 * updated at the Sample Rate. Meanwhile, the user-facing read register set
 * duplicates the internal register set's data values whenever the serial
 * interface is idle. This guarantees that a burst read of sensor registers will
 * read measurements from the same sampling instant. Note that if burst reads
 * are not used, the user is responsible for ensuring a set of single byte reads
 * correspond to a single sampling instant by checking the Data Ready interrupt.
 *
 * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
 * (Register 27). For each full scale setting, the gyroscopes' sensitivity per
 * LSB in GYRO_xOUT is shown in the table below:
 *
 * <pre>
 * FS_SEL | Full Scale Range   | LSB Sensitivity
 * -------+--------------------+----------------
 * 0      | +/- 250 degrees/s  | 131 LSB/deg/s
 * 1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
 * 2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
 * 3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
 * </pre>
 *
 * @param x 16-bit signed integer container for X-axis rotation
 * @param y 16-bit signed integer container for Y-axis rotation
 * @param z 16-bit signed integer container for Z-axis rotation
 * @see getMotion6()
 * @see MPU6500_RA_GYRO_XOUT_H
 */
void mpu6500GetRotation(int16_t* x, int16_t* y, int16_t* z)
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, buffer);
  *x = (((int16_t) buffer[0]) << 8) | buffer[1];
  *y = (((int16_t) buffer[2]) << 8) | buffer[3];
  *z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis gyroscope reading.
 * @return X-axis rotation measurement in 16-bit 2's complement format
 * @see getMotion6()
 * @see MPU6500_RA_GYRO_XOUT_H
 */
int16_t mpu6500GetRotationX()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 2, buffer);
  return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis gyroscope reading.
 * @return Y-axis rotation measurement in 16-bit 2's complement format
 * @see getMotion6()
 * @see MPU6500_RA_GYRO_YOUT_H
 */
int16_t mpu6500GetRotationY()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_YOUT_H, 2, buffer);
  return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis gyroscope reading.
 * @return Z-axis rotation measurement in 16-bit 2's complement format
 * @see getMotion6()
 * @see MPU6500_RA_GYRO_ZOUT_H
 */
int16_t mpu6500GetRotationZ()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_ZOUT_H, 2, buffer);
  return (((int16_t) buffer[0]) << 8) | buffer[1];
}

// EXT_SENS_DATA_* registers

/** Read single byte from external sensor data register.
 * These registers store data read from external sensors by the Slave 0, 1, 2,
 * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
 * I2C_SLV4_DI (Register 53).
 *
 * External sensor data is written to these registers at the Sample Rate as
 * defined in Register 25. This access rate can be reduced by using the Slave
 * Delay Enable registers (Register 103).
 *
 * External sensor data registers, along with the gyroscope measurement
 * registers, accelerometer measurement registers, and temperature measurement
 * registers, are composed of two sets of registers: an internal register set
 * and a user-facing read register set.
 *
 * The data within the external sensors' internal register set is always updated
 * at the Sample Rate (or the reduced access rate) whenever the serial interface
 * is idle. This guarantees that a burst read of sensor registers will read
 * measurements from the same sampling instant. Note that if burst reads are not
 * used, the user is responsible for ensuring a set of single byte reads
 * correspond to a single sampling instant by checking the Data Ready interrupt.
 *
 * Data is placed in these external sensor data registers according to
 * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
 * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
 * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
 * defined in Register 25) or delayed rate (if specified in Register 52 and
 * 103). During each Sample cycle, slave reads are performed in order of Slave
 * number. If all slaves are enabled with more than zero bytes to be read, the
 * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
 *
 * Each enabled slave will have EXT_SENS_DATA registers associated with it by
 * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
 * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
 * change the higher numbered slaves' associated registers. Furthermore, if
 * fewer total bytes are being read from the external sensors as a result of
 * such a change, then the data remaining in the registers which no longer have
 * an associated slave device (i.e. high numbered registers) will remain in
 * these previously allocated registers unless reset.
 *
 * If the sum of the read lengths of all SLVx transactions exceed the number of
 * available EXT_SENS_DATA registers, the excess bytes will be dropped. There
 * are 24 EXT_SENS_DATA registers and hence the total read lengths between all
 * the slaves cannot be greater than 24 or some bytes will be lost.
 *
 * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
 * information regarding the characteristics of Slave 4, please refer to
 * Registers 49 to 53.
 *
 * EXAMPLE:
 * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
 * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
 * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
 * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
 * will be associated with Slave 1. If Slave 2 is enabled as well, registers
 * starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
 *
 * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
 * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
 * instead.
 *
 * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
 * If a slave is disabled at any time, the space initially allocated to the
 * slave in the EXT_SENS_DATA register, will remain associated with that slave.
 * This is to avoid dynamic adjustment of the register allocation.
 *
 * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
 * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
 *
 * This above is also true if one of the slaves gets NACKed and stops
 * functioning.
 *
 * @param position Starting position (0-23)
 * @return Byte read from register
 */
uint8_t mpu6500GetExternalSensorByte(int position)
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, buffer);
  return buffer[0];
}
/** Read word (2 bytes) from external sensor data registers.
 * @param position Starting position (0-21)
 * @return Word read from register
 * @see getExternalSensorByte()
 */
uint16_t mpu6500GetExternalSensorWord(int position)
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 2, buffer);
  return (((uint16_t) buffer[0]) << 8) | buffer[1];
}
/** Read double word (4 bytes) from external sensor data registers.
 * @param position Starting position (0-20)
 * @return Double word read from registers
 * @see getExternalSensorByte()
 */
uint32_t mpu6500GetExternalSensorDWord(int position)
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 4, buffer);
  return (((uint32_t) buffer[0]) << 24) | (((uint32_t) buffer[1]) << 16)
      | (((uint16_t) buffer[2]) << 8) | buffer[3];
}

// MOT_DETECT_STATUS register

/** Get X-axis negative motion detection interrupt status.
 * @return Motion detection status
 * @see MPU6500_RA_MOT_DETECT_STATUS
 * @see MPU6500_MOTION_MOT_XNEG_BIT
 */
bool mpu6500GetXNegMotionDetected()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XNEG_BIT, buffer);
  return buffer[0];
}
/** Get X-axis positive motion detection interrupt status.
 * @return Motion detection status
 * @see MPU6500_RA_MOT_DETECT_STATUS
 * @see MPU6500_MOTION_MOT_XPOS_BIT
 */
bool mpu6500GetXPosMotionDetected()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XPOS_BIT, buffer);
  return buffer[0];
}
/** Get Y-axis negative motion detection interrupt status.
 * @return Motion detection status
 * @see MPU6500_RA_MOT_DETECT_STATUS
 * @see MPU6500_MOTION_MOT_YNEG_BIT
 */
bool mpu6500GetYNegMotionDetected()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YNEG_BIT, buffer);
  return buffer[0];
}
/** Get Y-axis positive motion detection interrupt status.
 * @return Motion detection status
 * @see MPU6500_RA_MOT_DETECT_STATUS
 * @see MPU6500_MOTION_MOT_YPOS_BIT
 */
bool mpu6500GetYPosMotionDetected()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YPOS_BIT, buffer);
  return buffer[0];
}
/** Get Z-axis negative motion detection interrupt status.
 * @return Motion detection status
 * @see MPU6500_RA_MOT_DETECT_STATUS
 * @see MPU6500_MOTION_MOT_ZNEG_BIT
 */
bool mpu6500GetZNegMotionDetected()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZNEG_BIT, buffer);
  return buffer[0];
}
/** Get Z-axis positive motion detection interrupt status.
 * @return Motion detection status
 * @see MPU6500_RA_MOT_DETECT_STATUS
 * @see MPU6500_MOTION_MOT_ZPOS_BIT
 */
bool mpu6500GetZPosMotionDetected()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZPOS_BIT, buffer);
  return buffer[0];
}
/** Get zero motion detection interrupt status.
 * @return Motion detection status
 * @see MPU6500_RA_MOT_DETECT_STATUS
 * @see MPU6500_MOTION_MOT_ZRMOT_BIT
 */
bool mpu6500GetZeroMotionDetected()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZRMOT_BIT, buffer);
  return buffer[0];
}

// I2C_SLV*_DO register

/** Write byte to Data Output container for specified slave.
 * This register holds the output data written into Slave when Slave is set to
 * write mode. For further information regarding Slave control, please
 * refer to Registers 37 to 39 and immediately following.
 * @param num Slave number (0-3)
 * @param data Byte to write
 * @see MPU6500_RA_I2C_SLV0_DO
 */
void mpu6500SetSlaveOutputByte(uint8_t num, uint8_t data)
{
  if (num > 3)
    return;
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_DO + num, data);
}

// I2C_MST_DELAY_CTRL register

/** Get external data shadow delay enabled status.
 * This register is used to specify the timing of external sensor data
 * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
 * sensor data is delayed until all data has been received.
 * @return Current external data shadow delay enabled status.
 * @see MPU6500_RA_I2C_MST_DELAY_CTRL
 * @see MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT
 */
bool mpu6500GetExternalShadowDelayEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT,
      buffer);
  return buffer[0];
}
/** Set external data shadow delay enabled status.
 * @param enabled New external data shadow delay enabled status.
 * @see getExternalShadowDelayEnabled()
 * @see MPU6500_RA_I2C_MST_DELAY_CTRL
 * @see MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT
 */
void mpu6500SetExternalShadowDelayEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL,
      MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
}
/** Get slave delay enabled status.
 * When a particular slave delay is enabled, the rate of access for the that
 * slave device is reduced. When a slave's access rate is decreased relative to
 * the Sample Rate, the slave is accessed every:
 *
 *     1 / (1 + I2C_MST_DLY) Samples
 *
 * This base Sample Rate in turn is determined by SMPLRT_DIV (register  * 25)
 * and DLPF_CFG (register 26).
 *
 * For further information regarding I2C_MST_DLY, please refer to register 52.
 * For further information regarding the Sample Rate, please refer to register 25.
 *
 * @param num Slave number (0-4)
 * @return Current slave delay enabled status.
 * @see MPU6500_RA_I2C_MST_DELAY_CTRL
 * @see MPU6500_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
 */
bool mpu6500GetSlaveDelayEnabled(uint8_t num)
{
  // MPU6500_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
  if (num > 4)
    return 0;
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, buffer);
  return buffer[0];
}
/** Set slave delay enabled status.
 * @param num Slave number (0-4)
 * @param enabled New slave delay enabled status.
 * @see MPU6500_RA_I2C_MST_DELAY_CTRL
 * @see MPU6500_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
 */
void mpu6500SetSlaveDelayEnabled(uint8_t num, bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, enabled);
}

// SIGNAL_PATH_RESET register

/** Reset gyroscope signal path.
 * The reset will revert the signal path analog to digital converters and
 * filters to their power up configurations.
 * @see MPU6500_RA_SIGNAL_PATH_RESET
 * @see MPU6500_PATHRESET_GYRO_RESET_BIT
 */
void mpu6500ResetGyroscopePath()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_GYRO_RESET_BIT, 1);
}
/** Reset accelerometer signal path.
 * The reset will revert the signal path analog to digital converters and
 * filters to their power up configurations.
 * @see MPU6500_RA_SIGNAL_PATH_RESET
 * @see MPU6500_PATHRESET_ACCEL_RESET_BIT
 */
void mpu6500ResetAccelerometerPath()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_ACCEL_RESET_BIT, 1);
}
/** Reset temperature sensor signal path.
 * The reset will revert the signal path analog to digital converters and
 * filters to their power up configurations.
 * @see MPU6500_RA_SIGNAL_PATH_RESET
 * @see MPU6500_PATHRESET_TEMP_RESET_BIT
 */
void mpu6500ResetTemperaturePath()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_TEMP_RESET_BIT, 1);
}

// MOT_DETECT_CTRL register

/** Get accelerometer power-on delay.
 * The accelerometer data path provides samples to the sensor registers, Motion
 * detection, Zero Motion detection, and Free Fall detection modules. The
 * signal path contains filters which must be flushed on wake-up with new
 * samples before the detection modules begin operations. The default wake-up
 * delay, of 4ms can be lengthened by up to 3ms. This additional delay is
 * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
 * any value above zero unless instructed otherwise by InvenSense. Please refer
 * to Section 8 of the MPU-6000/MPU-6500 Product Specification document for
 * further information regarding the detection modules.
 * @return Current accelerometer power-on delay
 * @see MPU6500_RA_MOT_DETECT_CTRL
 * @see MPU6500_DETECT_ACCEL_ON_DELAY_BIT
 */
uint8_t mpu6500GetAccelerometerPowerOnDelay()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
      MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
  return buffer[0];
}
/** Set accelerometer power-on delay.
 * @param delay New accelerometer power-on delay (0-3)
 * @see getAccelerometerPowerOnDelay()
 * @see MPU6500_RA_MOT_DETECT_CTRL
 * @see MPU6500_DETECT_ACCEL_ON_DELAY_BIT
 */
void mpu6500SetAccelerometerPowerOnDelay(uint8_t delay)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
      MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
}
/** Get Free Fall detection counter decrement configuration.
 * Detection is registered by the Free Fall detection module after accelerometer
 * measurements meet their respective threshold conditions over a specified
 * number of samples. When the threshold conditions are met, the corresponding
 * detection counter increments by 1. The user may control the rate at which the
 * detection counter decrements when the threshold condition is not met by
 * configuring FF_COUNT. The decrement rate can be set according to the
 * following table:
 *
 * <pre>
 * FF_COUNT | Counter Decrement
 * ---------+------------------
 * 0        | Reset
 * 1        | 1
 * 2        | 2
 * 3        | 4
 * </pre>
 *
 * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
 * reset the counter to 0. For further information on Free Fall detection,
 * please refer to Registers 29 to 32.
 *
 * @return Current decrement configuration
 * @see MPU6500_RA_MOT_DETECT_CTRL
 * @see MPU6500_DETECT_FF_COUNT_BIT
 */
uint8_t mpu6500GetFreefallDetectionCounterDecrement()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
      MPU6500_DETECT_FF_COUNT_LENGTH, buffer);
  return buffer[0];
}
/** Set Free Fall detection counter decrement configuration.
 * @param decrement New decrement configuration value
 * @see getFreefallDetectionCounterDecrement()
 * @see MPU6500_RA_MOT_DETECT_CTRL
 * @see MPU6500_DETECT_FF_COUNT_BIT
 */
void mpu6500SetFreefallDetectionCounterDecrement(uint8_t decrement)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
      MPU6500_DETECT_FF_COUNT_LENGTH, decrement);
}
/** Get Motion detection counter decrement configuration.
 * Detection is registered by the Motion detection module after accelerometer
 * measurements meet their respective threshold conditions over a specified
 * number of samples. When the threshold conditions are met, the corresponding
 * detection counter increments by 1. The user may control the rate at which the
 * detection counter decrements when the threshold condition is not met by
 * configuring MOT_COUNT. The decrement rate can be set according to the
 * following table:
 *
 * <pre>
 * MOT_COUNT | Counter Decrement
 * ----------+------------------
 * 0         | Reset
 * 1         | 1
 * 2         | 2
 * 3         | 4
 * </pre>
 *
 * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
 * reset the counter to 0. For further information on Motion detection,
 * please refer to Registers 29 to 32.
 *
 */
uint8_t mpu6500GetMotionDetectionCounterDecrement()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
      MPU6500_DETECT_MOT_COUNT_LENGTH, buffer);
  return buffer[0];
}
/** Set Motion detection counter decrement configuration.
 * @param decrement New decrement configuration value
 * @see getMotionDetectionCounterDecrement()
 * @see MPU6500_RA_MOT_DETECT_CTRL
 * @see MPU6500_DETECT_MOT_COUNT_BIT
 */
void mpu6500SetMotionDetectionCounterDecrement(uint8_t decrement)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
      MPU6500_DETECT_MOT_COUNT_LENGTH, decrement);
}

// USER_CTRL register

/** Get FIFO enabled status.
 * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
 * cannot be written to or read from while disabled. The FIFO buffer's state
 * does not change unless the MPU-60X0 is power cycled.
 * @return Current FIFO enabled status
 * @see MPU6500_RA_USER_CTRL
 * @see MPU6500_USERCTRL_FIFO_EN_BIT
 */
bool mpu6500GetFIFOEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_EN_BIT, buffer);
  return buffer[0];
}
/** Set FIFO enabled status.
 * @param enabled New FIFO enabled status
 * @see getFIFOEnabled()
 * @see MPU6500_RA_USER_CTRL
 * @see MPU6500_USERCTRL_FIFO_EN_BIT
 */
void mpu6500SetFIFOEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_EN_BIT, enabled);
}
/** Get I2C Master Mode enabled status.
 * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
 * external sensor slave devices on the auxiliary I2C bus. When this bit is
 * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
 * driven by the primary I2C bus (SDA and SCL). This is a precondition to
 * enabling Bypass Mode. For further information regarding Bypass Mode, please
 * refer to Register 55.
 * @return Current I2C Master Mode enabled status
 * @see MPU6500_RA_USER_CTRL
 * @see MPU6500_USERCTRL_I2C_MST_EN_BIT
 */
bool mpu6500GetI2CMasterModeEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_EN_BIT, buffer);
  return buffer[0];
}
/** Set I2C Master Mode enabled status.
 * @param enabled New I2C Master Mode enabled status
 * @see getI2CMasterModeEnabled()
 * @see MPU6500_RA_USER_CTRL
 * @see MPU6500_USERCTRL_I2C_MST_EN_BIT
 */
void mpu6500SetI2CMasterModeEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_EN_BIT, enabled);
}
/** Switch from I2C to SPI mode (MPU-6000 only)
 * If this is set, the primary SPI interface will be enabled in place of the
 * disabled primary I2C interface.
 */
void mpu6500SwitchSPIEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_IF_DIS_BIT, enabled);
}
/** Reset the FIFO.
 * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
 * bit automatically clears to 0 after the reset has been triggered.
 * @see MPU6500_RA_USER_CTRL
 * @see MPU6500_USERCTRL_FIFO_RESET_BIT
 */
void mpu6500ResetFIFO()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_RESET_BIT, 1);
}
/** Reset the I2C Master.
 * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
 * This bit automatically clears to 0 after the reset has been triggered.
 * @see MPU6500_RA_USER_CTRL
 * @see MPU6500_USERCTRL_I2C_MST_RESET_BIT
 */
void mpu6500ResetI2CMaster()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_RESET_BIT, 1);
}
/** Reset all sensor registers and signal paths.
 * When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
 * accelerometers, and temperature sensor). This operation will also clear the
 * sensor registers. This bit automatically clears to 0 after the reset has been
 * triggered.
 *
 * When resetting only the signal path (and not the sensor registers), please
 * use Register 104, SIGNAL_PATH_RESET.
 *
 * @see MPU6500_RA_USER_CTRL
 * @see MPU6500_USERCTRL_SIG_COND_RESET_BIT
 */
void mpu6500ResetSensors()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_SIG_COND_RESET_BIT, 1);
}

// PWR_MGMT_1 register

/** Trigger a full device reset.
 * A small delay of ~50ms may be desirable after triggering a reset.
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_DEVICE_RESET_BIT
 */
void mpu6500Reset()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_DEVICE_RESET_BIT, 1);
}
/** Get sleep mode status.
 * Setting the SLEEP bit in the register puts the device into very low power
 * sleep mode. In this mode, only the serial interface and internal registers
 * remain active, allowing for a very low standby current. Clearing this bit
 * puts the device back into normal mode. To save power, the individual standby
 * selections for each of the gyros should be used if any gyro axis is not used
 * by the application.
 * @return Current sleep mode enabled status
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_SLEEP_BIT
 */
bool mpu6500GetSleepEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_SLEEP_BIT, buffer);
  return buffer[0];
}
/** Set sleep mode status.
 * @param enabled New sleep mode enabled status
 * @see getSleepEnabled()
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_SLEEP_BIT
 */
void mpu6500SetSleepEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_SLEEP_BIT, enabled);
}
/** Get wake cycle enabled status.
 * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
 * between sleep mode and waking up to take a single sample of data from active
 * sensors at a rate determined by LP_WAKE_CTRL (register 108).
 * @return Current sleep mode enabled status
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_CYCLE_BIT
 */
bool mpu6500GetWakeCycleEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CYCLE_BIT, buffer);
  return buffer[0];
}
/** Set wake cycle enabled status.
 * @param enabled New sleep mode enabled status
 * @see getWakeCycleEnabled()
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_CYCLE_BIT
 */
void mpu6500SetWakeCycleEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CYCLE_BIT, enabled);
}
/** Get temperature sensor enabled status.
 * Control the usage of the internal temperature sensor.
 *
 * Note: this register stores the *disabled* value, but for consistency with the
 * rest of the code, the function is named and used with standard true/false
 * values to indicate whether the sensor is enabled or disabled, respectively.
 *
 * @return Current temperature sensor enabled status
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_TEMP_DIS_BIT
 */
bool mpu6500GetTempSensorEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, buffer);
  return buffer[0] == 0; // 1 is actually disabled here
}
/** Set temperature sensor enabled status.
 * Note: this register stores the *disabled* value, but for consistency with the
 * rest of the code, the function is named and used with standard true/false
 * values to indicate whether the sensor is enabled or disabled, respectively.
 *
 * @param enabled New temperature sensor enabled status
 * @see getTempSensorEnabled()
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_TEMP_DIS_BIT
 */
void mpu6500SetTempSensorEnabled(bool enabled)
{
  // 1 is actually disabled here
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, !enabled);
}
/** Get clock source setting.
 * @return Current clock source setting
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_CLKSEL_BIT
 * @see MPU6500_PWR1_CLKSEL_LENGTH
 */
uint8_t mpu6500GetClockSource()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
      MPU6500_PWR1_CLKSEL_LENGTH, buffer);
  return buffer[0];
}
/** Set clock source setting.
 * An internal 8MHz oscillator, gyroscope based clock, or external sources can
 * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
 * or an external source is chosen as the clock source, the MPU-60X0 can operate
 * in low power modes with the gyroscopes disabled.
 *
 * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
 * However, it is highly recommended that the device be configured to use one of
 * the gyroscopes (or an external clock source) as the clock reference for
 * improved stability. The clock source can be selected according to the following table:
 *
 * <pre>
 * CLK_SEL | Clock Source
 * --------+--------------------------------------
 * 0       | Internal oscillator
 * 1       | PLL with X Gyro reference
 * 2       | PLL with Y Gyro reference
 * 3       | PLL with Z Gyro reference
 * 4       | PLL with external 32.768kHz reference
 * 5       | PLL with external 19.2MHz reference
 * 6       | Reserved
 * 7       | Stops the clock and keeps the timing generator in reset
 * </pre>
 *
 * @param source New clock source setting
 * @see getClockSource()
 * @see MPU6500_RA_PWR_MGMT_1
 * @see MPU6500_PWR1_CLKSEL_BIT
 * @see MPU6500_PWR1_CLKSEL_LENGTH
 */
void mpu6500SetClockSource(uint8_t source)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
      MPU6500_PWR1_CLKSEL_LENGTH, source);
}

// PWR_MGMT_2 register

/** Get wake frequency in Accel-Only Low Power Mode.
 * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
 * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
 * the device will power off all devices except for the primary I2C interface,
 * waking only the accelerometer at fixed intervals to take a single
 * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
 * as shown below:
 *
 * <pre>
 * LP_WAKE_CTRL | Wake-up Frequency
 * -------------+------------------
 * 0            | 1.25 Hz
 * 1            | 2.5 Hz
 * 2            | 5 Hz
 * 3            | 10 Hz
 * <pre>
 *
 * For further information regarding the MPU-60X0's power modes, please refer to
 * Register 107.
 *
 * @return Current wake frequency
 * @see MPU6500_RA_PWR_MGMT_2
 */
uint8_t mpu6500GetWakeFrequency()
{
  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
      MPU6500_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
  return buffer[0];
}
/** Set wake frequency in Accel-Only Low Power Mode.
 * @param frequency New wake frequency
 * @see MPU6500_RA_PWR_MGMT_2
 */
void mpu6500SetWakeFrequency(uint8_t frequency)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
      MPU6500_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
}

/** Get X-axis accelerometer standby enabled status.
 * If enabled, the X-axis will not gather or report data (or use power).
 * @return Current X-axis standby enabled status
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_XA_BIT
 */
bool mpu6500GetStandbyXAccelEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XA_BIT, buffer);
  return buffer[0];
}
/** Set X-axis accelerometer standby enabled status.
 * @param New X-axis standby enabled status
 * @see getStandbyXAccelEnabled()
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_XA_BIT
 */
void mpu6500SetStandbyXAccelEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XA_BIT, enabled);
}
/** Get Y-axis accelerometer standby enabled status.
 * If enabled, the Y-axis will not gather or report data (or use power).
 * @return Current Y-axis standby enabled status
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_YA_BIT
 */
bool mpu6500GetStandbyYAccelEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YA_BIT, buffer);
  return buffer[0];
}
/** Set Y-axis accelerometer standby enabled status.
 * @param New Y-axis standby enabled status
 * @see getStandbyYAccelEnabled()
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_YA_BIT
 */
void mpu6500SetStandbyYAccelEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YA_BIT, enabled);
}
/** Get Z-axis accelerometer standby enabled status.
 * If enabled, the Z-axis will not gather or report data (or use power).
 * @return Current Z-axis standby enabled status
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_ZA_BIT
 */
bool mpu6500GetStandbyZAccelEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZA_BIT, buffer);
  return buffer[0];
}
/** Set Z-axis accelerometer standby enabled status.
 * @param New Z-axis standby enabled status
 * @see getStandbyZAccelEnabled()
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_ZA_BIT
 */
void mpu6500SetStandbyZAccelEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZA_BIT, enabled);
}
/** Get X-axis gyroscope standby enabled status.
 * If enabled, the X-axis will not gather or report data (or use power).
 * @return Current X-axis standby enabled status
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_XG_BIT
 */
bool mpu6500GetStandbyXGyroEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XG_BIT, buffer);
  return buffer[0];
}
/** Set X-axis gyroscope standby enabled status.
 * @param New X-axis standby enabled status
 * @see getStandbyXGyroEnabled()
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_XG_BIT
 */
void mpu6500SetStandbyXGyroEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XG_BIT, enabled);
}
/** Get Y-axis gyroscope standby enabled status.
 * If enabled, the Y-axis will not gather or report data (or use power).
 * @return Current Y-axis standby enabled status
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_YG_BIT
 */
bool mpu6500GetStandbyYGyroEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YG_BIT, buffer);
  return buffer[0];
}
/** Set Y-axis gyroscope standby enabled status.
 * @param New Y-axis standby enabled status
 * @see getStandbyYGyroEnabled()
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_YG_BIT
 */
void mpu6500SetStandbyYGyroEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YG_BIT, enabled);
}
/** Get Z-axis gyroscope standby enabled status.
 * If enabled, the Z-axis will not gather or report data (or use power).
 * @return Current Z-axis standby enabled status
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_ZG_BIT
 */
bool mpu6500GetStandbyZGyroEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZG_BIT, buffer);
  return buffer[0];
}
/** Set Z-axis gyroscope standby enabled status.
 * @param New Z-axis standby enabled status
 * @see getStandbyZGyroEnabled()
 * @see MPU6500_RA_PWR_MGMT_2
 * @see MPU6500_PWR2_STBY_ZG_BIT
 */
void mpu6500SetStandbyZGyroEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZG_BIT, enabled);
}

// FIFO_COUNT* registers

/** Get current FIFO buffer size.
 * This value indicates the number of bytes stored in the FIFO buffer. This
 * number is in turn the number of bytes that can be read from the FIFO buffer
 * and it is directly proportional to the number of samples available given the
 * set of sensor data bound to be stored in the FIFO (register 35 and 36).
 * @return Current FIFO buffer size
 */
uint16_t mpu6500GetFIFOCount()
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_FIFO_COUNTH, 2, buffer);
  return (((uint16_t) buffer[0]) << 8) | buffer[1];
}

// FIFO_R_W register

/** Get byte from FIFO buffer.
 * This register is used to read and write data from the FIFO buffer. Data is
 * written to the FIFO in order of register number (from lowest to highest). If
 * all the FIFO enable flags (see below) are enabled and all External Sensor
 * Data registers (Registers 73 to 96) are associated with a Slave device, the
 * contents of registers 59 through 96 will be written in order at the Sample
 * Rate.
 *
 * The contents of the sensor data registers (Registers 59 to 96) are written
 * into the FIFO buffer when their corresponding FIFO enable flags are set to 1
 * in FIFO_EN (Register 35). An additional flag for the sensor data registers
 * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
 *
 * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
 * automatically set to 1. This bit is located in INT_STATUS (Register 58).
 * When the FIFO buffer has overflowed, the oldest data will be lost and new
 * data will be written to the FIFO.
 *
 * If the FIFO buffer is empty, reading this register will return the last byte
 * that was previously read from the FIFO until new data is available. The user
 * should check FIFO_COUNT to ensure that the FIFO buffer is not read when
 * empty.
 *
 * @return Byte from FIFO buffer
 */
uint8_t mpu6500GetFIFOByte()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, buffer);
  return buffer[0];
}
void mpu6500GetFIFOBytes(uint8_t *data, uint8_t length)
{
  i2cdevRead(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, length, data);
}
/** Write byte to FIFO buffer.
 * @see getFIFOByte()
 * @see MPU6500_RA_FIFO_R_W
 */
void mpu6500SetFIFOByte(uint8_t data)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, data);
}

// WHO_AM_I register

/** Get Device ID.
 * This register is used to verify the identity of the device (0b110100).
 * @return Device ID (should be 0x68, 104 dec, 150 oct)
 * @see MPU6500_RA_WHO_AM_I
 * @see MPU6500_WHO_AM_I_BIT
 * @see MPU6500_WHO_AM_I_LENGTH
 */
uint8_t mpu6500GetDeviceID()
{
//  i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
//      buffer);
	i2cdevReadByte(I2Cx, devAddr,  MPU6500_RA_WHO_AM_I, buffer);
  return buffer[0];
}
/** Set Device ID.
 * Write a new ID into the WHO_AM_I register (no idea why this should ever be
 * necessary though).
 * @param id New device ID to set.
 * @see getDeviceID()
 * @see MPU6500_RA_WHO_AM_I
 * @see MPU6500_WHO_AM_I_BIT
 * @see MPU6500_WHO_AM_I_LENGTH
 */
void mpu6500SetDeviceID(uint8_t id)
{
  i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
      id);
}

// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========

// XG_OFFS_USR* registers

// INT_ENABLE register (DMP functions)

bool mpu6500GetIntPLLReadyEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
  return buffer[0];
}
void mpu6500SetIntPLLReadyEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, enabled);
}
bool mpu6500GetIntDMPEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
  return buffer[0];
}
void mpu6500SetIntDMPEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, enabled);
}

// DMP_INT_STATUS

bool mpu6500GetDMPInt5Status()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_5_BIT, buffer);
  return buffer[0];
}
bool mpu6500GetDMPInt4Status()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_4_BIT, buffer);
  return buffer[0];
}
bool mpu6500GetDMPInt3Status()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_3_BIT, buffer);
  return buffer[0];
}
bool mpu6500GetDMPInt2Status()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_2_BIT, buffer);
  return buffer[0];
}
bool mpu6500GetDMPInt1Status()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_1_BIT, buffer);
  return buffer[0];
}
bool mpu6500GetDMPInt0Status()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_0_BIT, buffer);
  return buffer[0];
}

// INT_STATUS register (DMP functions)

bool mpu6500GetIntPLLReadyStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
  return buffer[0];
}
bool mpu6500GetIntDMPStatus()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
  return buffer[0];
}

// USER_CTRL register (DMP functions)

bool mpu6500GetDMPEnabled()
{
  i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, buffer);
  return buffer[0];
}
void mpu6500SetDMPEnabled(bool enabled)
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, enabled);
}
void mpu6500ResetDMP()
{
  i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_RESET_BIT, 1);
}

// BANK_SEL register

void mpu6500SetMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
{
  bank &= 0x1F;
  if (userBank)
    bank |= 0x20;
  if (prefetchEnabled)
    bank |= 0x40;
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_BANK_SEL, bank);
}

// MEM_START_ADDR register

void mpu6500SetMemoryStartAddress(uint8_t address)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_START_ADDR, address);
}

// MEM_R_W register

uint8_t mpu6500ReadMemoryByte()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, buffer);
  return buffer[0];
}
void mpu6500WriteMemoryByte(uint8_t data)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, data);
}
void mpu6500ReadMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
{
  mpu6500SetMemoryBank(bank, true, true);
  mpu6500SetMemoryStartAddress(address);
  uint8_t chunkSize;
  uint16_t i;

  for (i = 0; i < dataSize;)
  {
    // determine correct chunk size according to bank position and data size
    chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;

    // make sure we don't go past the data size
    if (i + chunkSize > dataSize)
      chunkSize = dataSize - i;

    // make sure this chunk doesn't go past the bank boundary (256 bytes)
    if (chunkSize > 256 - address)
      chunkSize = 256 - address;

    // read the chunk of data as specified
    i2cdevRead(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, data + i);

    // increase byte index by [chunkSize]
    i += chunkSize;

    // uint8_t automatically wraps to 0 at 256
    address += chunkSize;

    // if we aren't done, update bank (if necessary) and address
    if (i < dataSize)
    {
      if (address == 0)
        bank++;
      mpu6500SetMemoryBank(bank, true, true);
      mpu6500SetMemoryStartAddress(address);
    }
  }
}
bool mpu6500WriteMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address,
    bool verify)
{
  static uint8_t verifyBuffer[MPU6500_DMP_MEMORY_CHUNK_SIZE];
  uint8_t chunkSize;
  uint8_t *progBuffer;
  uint16_t i;

  mpu6500SetMemoryBank(bank, true, true);
  mpu6500SetMemoryStartAddress(address);

  for (i = 0; i < dataSize;)
  {
    // determine correct chunk size according to bank position and data size
    chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;

    // make sure we don't go past the data size
    if (i + chunkSize > dataSize)
      chunkSize = dataSize - i;

    // make sure this chunk doesn't go past the bank boundary (256 bytes)
    if (chunkSize > 256 - address)
      chunkSize = 256 - address;

    // write the chunk of data as specified
    progBuffer = (uint8_t *) data + i;

    i2cdevWrite(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, progBuffer);

    // verify data if needed
    if (verify)
    {
      uint32_t j;
      mpu6500SetMemoryBank(bank, true, true);
      mpu6500SetMemoryStartAddress(address);
      i2cdevRead(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, verifyBuffer);

      for (j = 0; j < chunkSize; j++)
      {
        if (progBuffer[j] != verifyBuffer[j])
        {
          /*Serial.print("Block write verification error, bank ");
           Serial.print(bank, DEC);
           Serial.print(", address ");
           Serial.print(address, DEC);
           Serial.print("!\nExpected:");
           for (j = 0; j < chunkSize; j++) {
           Serial.print(" 0x");
           if (progBuffer[j] < 16) Serial.print("0");
           Serial.print(progBuffer[j], HEX);
           }
           Serial.print("\nReceived:");
           for (uint8_t j = 0; j < chunkSize; j++) {
           Serial.print(" 0x");
           if (verifyBuffer[i + j] < 16) Serial.print("0");
           Serial.print(verifyBuffer[i + j], HEX);
           }
           Serial.print("\n");*/
          return false;
        }
      }
    }

    // increase byte index by [chunkSize]
    i += chunkSize;

    // uint8_t automatically wraps to 0 at 256
    address += chunkSize;

    // if we aren't done, update bank (if necessary) and address
    if (i < dataSize)
    {
      if (address == 0)
        bank++;
      mpu6500SetMemoryBank(bank, true, true);
      mpu6500SetMemoryStartAddress(address);
    }
  }
  return true;
}
bool mpu6500WriteProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank,
    uint8_t address, bool verify)
{
  return mpu6500WriteMemoryBlock(data, dataSize, bank, address, verify);
}
#define MPU6500_DMP_CONFIG_BLOCK_SIZE 6
bool mpu6500WriteDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
{
  uint8_t *progBuffer, success, special;
  uint16_t i;

  // config set data is a long string of blocks with the following structure:
  // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
  uint8_t bank=0;
  uint8_t offset=0;
  uint8_t length=0;
  for (i = 0; i < dataSize;)
  {
    bank = data[i++];
    offset = data[i++];
    length = data[i++];
  }

  // write data or perform special action
  if (length > 0)
  {
    // regular block of data to write
    /*Serial.print("Writing config block to bank ");
     Serial.print(bank);
     Serial.print(", offset ");
     Serial.print(offset);
     Serial.print(", length=");
     Serial.println(length);*/
    progBuffer = (uint8_t *) data + i;
    success = mpu6500WriteMemoryBlock(progBuffer, length, bank, offset, true);
    i += length;
  }
  else
  {
    // special instruction
    // NOTE: this kind of behavior (what and when to do certain things)
    // is totally undocumented. This code is in here based on observed
    // behavior only, and exactly why (or even whether) it has to be here
    // is anybody's guess for now.
    special = data[i++];
    /*Serial.print("Special command code ");
     Serial.print(special, HEX);
     Serial.println(" found...");*/
    if (special == 0x01)
    {
      // enable DMP-related interrupts
      mpu6500SetIntZeroMotionEnabled(true);
      mpu6500SetIntFIFOBufferOverflowEnabled(true);
      mpu6500SetIntDMPEnabled(true);
      //i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, 0x32);
      success = true;
    }
    else
    {
      // unknown special command
      success = false;
    }
  }

  if (!success)
  {
    return false; // uh oh
  }
  return true;
}

bool mpu6500WriteProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
{
  return mpu6500WriteDMPConfigurationSet(data, dataSize);
}

// DMP_CFG_1 register

uint8_t mpu6500GetDMPConfig1()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, buffer);
  return buffer[0];
}
void mpu6500SetDMPConfig1(uint8_t config)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, config);
}

// DMP_CFG_2 register

uint8_t mpu6500GetDMPConfig2()
{
  i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, buffer);
  return buffer[0];
}
void mpu6500SetDMPConfig2(uint8_t config)
{
  i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, config);
}
